cmake_minimum_required(VERSION 2.8.3)
project(rfans_driver)

## Add support for C++11, supported in ROS Kinetic and newer
add_definitions(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages pcl_conversions
##pcl_ros
OPTION(USE_PARALLEL_ALGORITHM "Option decription" OFF)
IF(USE_PARALLEL_ALGORITHM)
    ADD_DEFINITIONS(-DUSE_PARALLEL_ALGORITHM)
ENDIF(USE_PARALLEL_ALGORITHM)
find_package(catkin REQUIRED COMPONENTS message_generation std_msgs roscpp sensor_msgs  dynamic_reconfigure geometry_msgs rviz)
set(libpcap_LIBRARIES -lpcap)
set(CMAKE_AUTOMOC ON)
#find_package(Qt4 COMPONENTS QtCore QtGui REQUIRED)
if(rviz_QT_VERSION VERSION_LESS "5")
  message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
  ## pull in all required include dirs, define QT_LIBRARIES, etc.
  include(${QT_USE_FILE})
else()
  message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
  find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
  ## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
  set(QT_LIBRARIES Qt5::Widgets)
endif()
#include(${QT_USE_FILE})
add_definitions(-DQT_NO_KEYWORDS)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fsanitize=address -fno-omit-frame-pointer")

#option(UseQt5 "UseQt5" ON)
#if (UseQt5)
#  find_package(Qt5 REQUIRED COMPONENTS Core Widgets OpenGL Network)
#  # set variable names already used with Qt4
#  set(QT_LIBRARIES Qt5::Widgets Qt5::Core Qt5::Network)
#  set(QTVERSION ${Qt5Widgets_VERSION})
#else()
#  find_package(Qt4 REQUIRED COMPONENTS QtCore QtGui QtOpenGL QtNetwork)
#  include(${QT_USE_FILE})
#endif()

#QT5_WRAP_CPP(QT_MOC_H ${QT_MOC})


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

add_message_files(
  DIRECTORY msg
  FILES
  RfansPacket.msg
  Packet.msg
  RfansScan.msg
#  RfansPoint.msg
#  RfansBlock.msg
)

add_service_files(
    DIRECTORY srv
    FILES
    RfansCommand.srv

)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )
generate_messages(DEPENDENCIES std_msgs)

################################################
## Declare ROS dynamic reconfigure parameters ##
#####################################vector###########

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
   cfg/FilterParams.cfg
 )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need

catkin_package(
  CATKIN_DEPENDS message_runtime std_msgs
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(include ${catkin_INCLUDE_DIRS} "./lib")
link_directories("./lib")


## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/rfans_driver.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/rfans_driver_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )


add_executable(driver_node
  src/publisher.cpp
  src/ioapi.cpp
  src/rfans_driver.cpp
  src/ssFrameLib.cpp
  )
add_dependencies(driver_node rfans_driver_generate_messages_cpp)
target_link_libraries(driver_node ${catkin_LIBRARIES} ${libpcap_LIBRARIES}  parallel_algorithm star libpcap.so)

#add_executable(rfans_subscriber src/subscriber.cpp src/ioapi.cpp src/ssFrameLib.cpp src/bufferDecode.cpp)
#add_dependencies(rfans_subscriber rfans_driver_generate_messages_cpp)
#target_link_libraries(rfans_subscriber ${catkin_LIBRARIES})

add_library(rviz_teleop_commander src/teleop_pad.cpp)
add_dependencies(rviz_teleop_commander rfans_driver_generate_messages_cpp)
target_link_libraries(rviz_teleop_commander ${QT_LIBRARIES} ${catkin_LIBRARIES} star libpcap.so)
#############
## Install ##
#############

